[go: up one dir, main page]

GB2622790B - Control system for controlling a surgical robot arm - Google Patents

Control system for controlling a surgical robot arm Download PDF

Info

Publication number
GB2622790B
GB2622790B GB2214081.8A GB202214081A GB2622790B GB 2622790 B GB2622790 B GB 2622790B GB 202214081 A GB202214081 A GB 202214081A GB 2622790 B GB2622790 B GB 2622790B
Authority
GB
United Kingdom
Prior art keywords
controlling
control system
robot arm
surgical robot
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB2214081.8A
Other versions
GB2622790A (en
GB202214081D0 (en
Inventor
William Haydn Webster-Smith David
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CMR Surgical Ltd
Original Assignee
CMR Surgical Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CMR Surgical Ltd filed Critical CMR Surgical Ltd
Priority to GB2214081.8A priority Critical patent/GB2622790B/en
Publication of GB202214081D0 publication Critical patent/GB202214081D0/en
Priority to PCT/GB2023/052448 priority patent/WO2024069132A1/en
Priority to US18/617,523 priority patent/US20240238980A1/en
Publication of GB2622790A publication Critical patent/GB2622790A/en
Application granted granted Critical
Publication of GB2622790B publication Critical patent/GB2622790B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1692—Calibration of manipulator
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
GB2214081.8A 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm Active GB2622790B (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
GB2214081.8A GB2622790B (en) 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm
PCT/GB2023/052448 WO2024069132A1 (en) 2022-09-27 2023-09-21 Control system for controlling a surgical robot arm
US18/617,523 US20240238980A1 (en) 2022-09-27 2024-03-26 Control system for controlling a surgical robot arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2214081.8A GB2622790B (en) 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm

Publications (3)

Publication Number Publication Date
GB202214081D0 GB202214081D0 (en) 2022-11-09
GB2622790A GB2622790A (en) 2024-04-03
GB2622790B true GB2622790B (en) 2025-03-12

Family

ID=83978656

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2214081.8A Active GB2622790B (en) 2022-09-27 2022-09-27 Control system for controlling a surgical robot arm

Country Status (1)

Country Link
GB (1) GB2622790B (en)

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050251110A1 (en) * 2004-05-04 2005-11-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
KR20090060752A (en) * 2007-12-10 2009-06-15 현대중공업 주식회사 Calibration method of robots with joint stiffness parameters for improved position accuracy
KR20160149649A (en) * 2015-06-18 2016-12-28 울산대학교 산학협력단 Robot calibration method including nonlinear joint stiffness
WO2017167687A2 (en) * 2016-03-29 2017-10-05 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
WO2019090047A1 (en) * 2017-11-02 2019-05-09 Intuitive Surgical Operations, Inc. Systems and methods for end effector position set point correction
GB2597117A (en) * 2020-07-14 2022-01-19 Cmr Surgical Ltd Calibrating an instrument interface

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050251110A1 (en) * 2004-05-04 2005-11-10 Intuitive Surgical, Inc. Tool grip calibration for robotic surgery
KR20090060752A (en) * 2007-12-10 2009-06-15 현대중공업 주식회사 Calibration method of robots with joint stiffness parameters for improved position accuracy
KR20160149649A (en) * 2015-06-18 2016-12-28 울산대학교 산학협력단 Robot calibration method including nonlinear joint stiffness
WO2017167687A2 (en) * 2016-03-29 2017-10-05 Cognibotics Ab Method, constraining device and system for determining geometric properties of a manipulator
WO2019090047A1 (en) * 2017-11-02 2019-05-09 Intuitive Surgical Operations, Inc. Systems and methods for end effector position set point correction
GB2597117A (en) * 2020-07-14 2022-01-19 Cmr Surgical Ltd Calibrating an instrument interface

Also Published As

Publication number Publication date
GB2622790A (en) 2024-04-03
GB202214081D0 (en) 2022-11-09

Similar Documents

Publication Publication Date Title
GB2593738B (en) Control system of a surgical robot
GB2593739B (en) Control system of a surgical robot
GB2593473B (en) Virtual console for controlling a surgical robot
GB2593740B (en) Control system of a surgical robot
GB2624133B (en) Controlling movement of a surgical robot arm
GB2622792B (en) Control system for controlling a surgical robot arm
GB2622791B (en) Control system for controlling a surgical robot arm
GB202213907D0 (en) Robot control
GB2624698B (en) Methods and control systems for controlling a robotic manipulator
GB2622790B (en) Control system for controlling a surgical robot arm
GB2621007B (en) Controlling a robotic manipulator for packing an object
GB202500085D0 (en) Control system for controlling a surgical robot arm
GB2625572B (en) Control of a surgical robot arm
GB202404322D0 (en) Control system for controlling a surgical robot arm
GB2627451B (en) Control system for a surgical robotic system
GB2625105B (en) Control system for a surgical robotic system
GB202013081D0 (en) A control system for controlling distribution
GB2621587B (en) Control of a surgical robot arm
GB2621576B (en) Control system of a surgical robot
EP4400278A4 (en) Robot control system
GB2621578B (en) Controlling a surgical robot arm whilst entering a sleep mode
CA3274544A1 (en) Methods and control systems for controlling a robotic manipulator
CA3277326A1 (en) Co-manipulation surgical system having automated preset robot arm configurations
CA3282848A1 (en) Control component for robotic microsurgical procedures
GB2614935B (en) Methods for controlling the movement of a robot for disinfection